EP3534229A1 - Détermination de paramètres d'une régulation de position pour une servocommande - Google Patents

Détermination de paramètres d'une régulation de position pour une servocommande Download PDF

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Publication number
EP3534229A1
EP3534229A1 EP18159105.8A EP18159105A EP3534229A1 EP 3534229 A1 EP3534229 A1 EP 3534229A1 EP 18159105 A EP18159105 A EP 18159105A EP 3534229 A1 EP3534229 A1 EP 3534229A1
Authority
EP
European Patent Office
Prior art keywords
drive
parameters
controller
optimization
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18159105.8A
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German (de)
English (en)
Inventor
Raimund Kram
Manfred Popp
Bernd Wedel
Georg Wiegärtner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP18159105.8A priority Critical patent/EP3534229A1/fr
Publication of EP3534229A1 publication Critical patent/EP3534229A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41015—Adjust position and speed gain of different axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41098—Automatic recalibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41248—Adapting characteristics of servo
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42128—Servo characteristics, drive parameters, during test move

Definitions

  • the invention relates to a method for determining parameters of a position control for a servo drive and a drive-integrated control of a servo drive.
  • a position control is to be provided in the control system.
  • This attitude control makes it possible to regulate a movement along predetermined paths or motion profiles.
  • a motion sequence is predetermined for an axis, which is to be driven as precisely as possible using a position control.
  • the axis movement in numerically controlled machines by means of position control.
  • the position controller is implemented in the drive itself rather than in a higher level controller. For example, this is the case with so-called PROFIdrive DSC functionality.
  • parameters of the position controller For the correct operation of a position controller, which is provided in a servo drive, it is necessary to adjust parameters of the position controller suitable. For example, parameters such as position controller gain or speed loop replacement time must be set to suit a machine or plant.
  • the object of the present invention is to provide an improved method for determining parameters of a position control in a servo drive and a drive-integrated control of a servo drive for this purpose.
  • This object is solved by the features of the independent claims.
  • Advantageous embodiments are specified in the dependent claims.
  • the invention relates to a method for determining parameters of a position control for a servo drive, wherein the position control is carried out in a servo drive control, wherein the determination of the parameters in dependence on drive variables is performed by the servo drive control.
  • parameters of a position control for a servo drive for example, the parameters position controller gain factor and speed controller replacement time are to be determined.
  • the parameters of a position control for a servo drive must be specified for the position controller to optimize the position controller. Without the specification or the knowledge of suitable parameters, the position controller for a servo drive is not suitable for carrying out a control in an optimized manner.
  • a position controller, which is set optimized, usually cooperates with a speed controller, which is ultimately intended for the specification of a speed for a drive.
  • the determination of parameters also includes the determination of a single parameter, in particular in an optimization process.
  • drive quantities must also be taken into account, so that the interaction between the position controller and the speed controller or current controller is aligned with each other.
  • drive sizes are properties or settings to understand the drive. In particular, these are dynamic drive quantities.
  • determining the appropriate parameters of the position control was triggered by a higher-level control.
  • position control was already carried out in the servo drive, so far the controller optimization was triggered by a separate tool in the higher-level control.
  • the determination of the parameters is performed by the servo drive control itself. Accordingly, a drive or converter has sufficient computing power not only to consider the position controller in the controlled system of the converter, but also to carry out the position controller optimization.
  • parameter of a position control is closely interwoven with the concept of setting a position control. For example, an adjustment of the position controller, in which the operation of the position controller is optimal, set corresponding optimal parameters.
  • An embodiment of a servo drive in which the position controller is performed together with the speed controller in the drive or in the inverter, is the starting point for the use of the method according to the invention.
  • an internal drive optimization which is used for setting, inter alia, the speed controller, extended by the implementation of the position controller optimization, d. H. determining the parameters of the position control.
  • the controller optimization of the controller as a whole, in which position controller and speed controller in particular interact in the converter, can therefore take place completely in the drive or converter.
  • a specific activation, for example, in an engineering tool or in a higher-level control system is thus eliminated in an advantageous manner.
  • the optimization parameters are influenced by the distance or by the axis or settings of the drive or inverter and are thus in the optimization functionality of the drive or inverter completely determinable.
  • telegrams such as the PROFIdrive DSC telegram are to be used in the architecture of the inverter with the higher-level control. These telegrams are used to communicate the parameters determined between a higher-level controller and the inverter.
  • a speed amplification factor and / or a speed controller replacement time or balancing time are determined as parameters. These are particularly important parameters of a position control of a servo drive.
  • the determination of an optimized speed gain factor or an optimized speed controller replacement time or an optimized balancing time is advantageously triggered by the servo drive control and performed to optimize the controller line, which includes the position controller and the speed controller.
  • a total inertia or a sampling time or cycle time or a controller or filter setting of a speed or current control, or moments of inertia or drive characteristics or sequence characteristics enter into the determination of the parameters as drive quantities.
  • These drive variables influence the controlled system and thus the choice of at least one optimum parameter of the position control.
  • the availability of the variables influencing the controlled system of the position control in the drive is used to set up or adjust the position controller.
  • the determination is carried out in the case of an internal drive optimization of drive parameters.
  • the position controller is co-optimized with further drive parameters.
  • Performing in an internal drive optimization is also to be understood as performing during such optimization, in particular, the drive-internal optimization also causes the position controller optimization and performs both optimizations.
  • Drive parameters are, for example, parameters such as a speed gain factor of the subordinate current or torque control loop or filter parameters.
  • the determination in the drive-internal optimization is performed automatically.
  • a manual triggering is thus eliminated in an advantageous manner.
  • the determination in the drive-internal optimization without an activation by a higher-level control is performed.
  • no optimization tool, which is provided on a higher-level controller has to have the functionality of position controller optimization.
  • the specific parameters are included in drive data and can be read out for a higher-level control system or an engineering system.
  • the finished or determined as optimized stored or displayed parameters can be used by a higher-level control and the position controller or the entire inverter comprising the position controller and the speed controller are specified as optimized position controller parameters.
  • the parameters are not invariably included in the drive itself in the control loop and, for example, can already be incorporated into the controlled system in a higher-level controller. It is also possible that the optimized parameters in the inverter are included in the controlled system.
  • the determined parameters are read out by a higher-level control system or an engine-handling system.
  • the drive displays the determined and optimized parameters for selection, and a higher-level control adopts the values in accordance with the selection of the drive.
  • a higher-level control adopts the values in accordance with the selection of the drive.
  • the transfer back to the drive takes place in the context of PROFIdrive telegrams.
  • the determination is made independently of a communication connection or the existence of a communication connection between the servo drive and a higher-level control system or engineering system.
  • the position controller optimization still takes place in an advantageous manner.
  • the proposed procedure can be carried out efficiently in a commissioning process and ensures the existence of optimized position controller parameters even before the existence of an established connection to a higher-level control system.
  • the parameters are determined as a function of values of a motor encoder.
  • the values of a motor encoder are used for controller optimization.
  • the parameters are determined according to values of a machine encoder, i. a direct encoder, to be used.
  • the invention further relates to a drive-integrated control of a servo drive, comprising a position control for the servo drive and having an optimization unit, wherein the optimization unit is designed for determining parameters of the position control as a function of drive variables.
  • the optimization unit which is provided in the drive-integrated control, allows automatic and efficient co-optimization of the position controller parameters with optimization functionalities of the drive.
  • the drive-integrated control further has an output unit for outputting a status parameter, wherein the status parameter is designed to indicate a required redetermining of at least one parameter or to display at least one determined and / or valid parameter.
  • a status message can be realized which indicates the need for further or further controller parameter optimization.
  • the display may indicate whether controller data is valid or consistent.
  • a required re-optimization may be necessary in addition to a failed optimization because of a subsequent change of controller parameters.
  • the drive-integrated control further has a communication interface to a higher-level control system or an engineering system.
  • the communication interface will be provided for ongoing operation, in which there is a communication connection to a higher-level control. In commissioning phases, the formation of such a communication connection for the controller parameter optimization is not yet mandatory.
  • a servo drive controller 100 of a servo drive is shown as a component. It has a speed controller 120 and a position controller 110.
  • the speed controller 120 is provided for outputting a torque setpoint n_setpoint, which is given to a motor (not shown). Taking into account a total moment of inertia, a current setpoint to be specified is generated from this.
  • the servo drive also has the drive control functionality.
  • the servo drive controller 100 has the function of an electronic position control according to an embodiment of the invention. For this purpose, an integrated position controller 110 is provided in the servo drive.
  • the so-called dynamic servo control or DSC short position controller is thus already provided drive integrated.
  • an interpolator 220 is provided for implementing a motion control.
  • a motion profile is to be run through, which requires the corresponding control of the motors of the axes involved in the movement.
  • speed and position setpoints are specified, which are to be regulated by the servo drive in cooperation with the higher-level controller 200.
  • PROFIdrive profiles are taken as the device profiles for the drive units.
  • PROFIdrive is specified by the user organization PROFIbus and PROFInet International (PI) and defined by the IEC 61800.7 standard as a future-proof standard.
  • the correspondingly defined device profiles and, in particular, interfaces make it possible to exchange PROFIdrive telegrams via PROFIbus or PROFInet.
  • an interoperable interface is available at the application level.
  • FIG. 1 is schematically indicated the control loop, which is distributed from the implementation point of view on the servo drive controller 100 and the higher-level controller 200.
  • the interpolator 220 predefines a speed setpoint v_setpoint to a speed feedforward control 230.
  • the feedforward control of the speed in accordance with the course of the movement serves for the direct connection of the relevant control value component.
  • a position setpoint x_setpoint is likewise predetermined by the interpolator 220 and supplied to a balancing filter 210. This serves to take into account the system behavior as a result of the active velocity precontrol and influences the position value to be specified for the position controller accordingly.
  • the position controller 110 is supplied with the position control difference formed in the drive from the position reference value and the actual position value x_act determined in the drive.
  • the speed control loop is given the set speed from the setpoint speed, which is directly preset via the speed feedforward control, and a position error to be compensated by the position controller.
  • an optimization unit 130 is provided in the servo drive.
  • the optimization unit 130 may also be referred to as the optimization functionality module of the servo drive controller 100 and is provided at the same time for determining parameters of the position controller in addition to the determination of optimized drive parameters.
  • the optimization unit determines a speed controller replacement time 101 and a position controller gain factor 102. Both parameters are used for optimized setting of the position controller in the drive.
  • the optimization unit 130 initiates the determination, regardless of the higher-level control 200. It is at the time the optimization process in the optimization unit 130 no existing communication connection with the higher-level controller 200 and no input from this needed.
  • the parameter determination and thus the determination of optimized setting values of the position controller 110 takes place virtually autonomously in the servo drive.
  • the settings of the DSC position controller are thus determined implicitly in the drive optimization, which is likewise carried out by the optimization unit 130, and can be read out and possibly taken over directly or later on an engineering tool or the higher-level controller 200.
  • the optimization unit 130 determines drive parameter 103 for drive optimization. Thus, the controller optimization takes place completely in the drive. A specific activation from outside the servo drive 100 is omitted. An existing optimization functionality in the servo drive 100 is thus used more efficiently for the entire drive control.
  • FIG. 2 is sketched the underlying the first embodiment controlled system.
  • the two position controller parameters speed controller replacement time 101 and position controller gain factor 102 are shown schematically. The figure should clarify how these two parameters are used to design the controller components involved in the entire control loop. For the specification of an optimized position controller gain factor 102, this is specified for the position controller 110 in the servo drive controller 100 for parameterization.
  • the balancing filter 210 is given a speed controller replacement time 101 determined as optimized on the part of the higher-level controller 200. Thus, the balancing filter 210 is able to delay the position setpoint by the speed controller replacement time 101 and possibly by other communication times in the control loop.
  • FIG. 3 illustrates a second embodiment of the invention, in which by an optimization unit 130, the parameters of the position controller 101 and 102 are determined.
  • the values are determined on the drive side. If they are in the drive, this is indicated by a status bit, for example.
  • a higher-level controller can read out the parameters by transmitting the parameters in a data exchange method, in particular in an acyclic data exchange 10. The transmission takes place to the higher-level controller 200, which takes over the parameters and specifies them for the entire control loop.
  • a return transmission of one or more of the specific parameters from the higher-level control 200 to the servo drive control 100 takes place, for example, via a telegram T20 in a PROFIdrive structure on which the drive system is based, for example via PROFIbus or PROFInet.
  • the telegrams T20 provided and standardized in a system architecture in accordance with PROFIdrive profiles can advantageously be used for the cyclical predefinition of the specific and optimized parameters of the position controller in working mode, for example in operational mode or in motion execution mode.
  • the method described and the device described are advantageously used for servo drives and the associated drive control in numerous applications.
  • the invention is advantageously used in applications with synchronization of multiple axes or drives in use for handling tasks and generally for position-relevant drive solutions.
  • the invention is thus in various industries and in a variety of equipment such as packaging equipment or in processing machines with appropriate Positioning functionalities and a corresponding editing functionality can be used.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
EP18159105.8A 2018-02-28 2018-02-28 Détermination de paramètres d'une régulation de position pour une servocommande Withdrawn EP3534229A1 (fr)

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Application Number Priority Date Filing Date Title
EP18159105.8A EP3534229A1 (fr) 2018-02-28 2018-02-28 Détermination de paramètres d'une régulation de position pour une servocommande

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EP18159105.8A EP3534229A1 (fr) 2018-02-28 2018-02-28 Détermination de paramètres d'une régulation de position pour une servocommande

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EP3534229A1 true EP3534229A1 (fr) 2019-09-04

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101895252A (zh) * 2010-07-09 2010-11-24 上海新时达电气股份有限公司 电机伺服驱动器控制器参数自动调整装置及其方法
CN106371405A (zh) * 2015-07-24 2017-02-01 西门子公司 伺服驱动器的自动优化系统、伺服驱动以及伺服驱动的自动优化调试方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101895252A (zh) * 2010-07-09 2010-11-24 上海新时达电气股份有限公司 电机伺服驱动器控制器参数自动调整装置及其方法
CN106371405A (zh) * 2015-07-24 2017-02-01 西门子公司 伺服驱动器的自动优化系统、伺服驱动以及伺服驱动的自动优化调试方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
YANG SHENG-MING ET AL: "Automatic Control Loop Tuning for Permanent-Magnet AC Servo Motor Drives", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, USA, vol. 63, no. 3, 1 March 2016 (2016-03-01), pages 1499 - 1506, XP011598174, ISSN: 0278-0046, [retrieved on 20160208], DOI: 10.1109/TIE.2015.2495300 *

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